CN108058744B - A two-wheel drive vehicle steering device - Google Patents

Abstract

The invention discloses a two-wheel drive automobile steering device, which comprises a steering wheel, a steering control device, hub motors and a speed sensor, wherein the steering control device comprises a rotating shaft, a connecting rod, a controller, a hollow ring and two semicircular springs arranged in the hollow ring, the steering wheel is fixed at one end of the rotating shaft, the other end of the rotating shaft is connected with one end of the connecting rod, the other end of the connecting rod extends into the hollow ring, the rotating shaft and the hollow ring are coaxially arranged, a first baffle plate for separating one end of the two semicircular springs is arranged at the end part of the connecting rod extending into the hollow ring, a sliding chute for the connecting rod to rotate around the rotating shaft is arranged at the inner side of the hollow ring, a second baffle plate for separating the other ends of the two semicircular springs is also arranged in the hollow ring, two sides of the second baffle plate are respectively provided with a pressure sensor, a corner is given to calculate a corner signal through the, the invention has simple structure and accurate and stable steering.

Description

A two-wheel drive vehicle steering device

technical field

The invention belongs to the field of transportation engineering, relates to an automobile steering device, in particular to a two-wheel drive automobile steering device.

Background technique

At present, the car has become one of the most important tools for people to travel. At present, most of the cars use a fuel engine to drive the car, and two-wheel drive is adopted. Steering is unavoidable during the driving process of the car. At present, the mechanical steering system and power steering system are usually used for steering. The mechanical steering system uses hydraulic power assist. Since the engine power is used to drive the oil pump, the energy consumption is relatively high, and the pipes of the hydraulic system are relatively high. The structure of the road is very complex, the number of valves for various oil control fluids is numerous, and the later maintenance requires costs. The entire oil circuit is often kept in a high pressure state, and the service life is affected; the power steering system adopts the way of electronic assistance, although the structure is simplified. A lot more, but the stability is less reliable, and the manufacturing cost and maintenance cost are higher.

SUMMARY OF THE INVENTION

The purpose of the present invention is to propose a new steering device that can make better use of the other two wheels of the car, which can make better use of the other two wheels of the car. The structure is more uniform. Take rear-drive cars, for example, using front-wheel steering. The advantages of the device do not require hydraulic transmission, but are provided by electricity, with simple structure, fast response, good stability, and energy recovery. The later maintenance is mainly on the hub motor and battery, and the cost is low. The core of the device lies in the controller, which needs to design a perfect control system to control the steering.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is:

A two-wheel drive automobile steering device is characterized in that: it comprises a steering wheel, a steering control device, a wheel hub motor and a speed measuring sensor for measuring the speed of the wheel hub motor, and the steering control device includes a rotating shaft, a connecting rod, a controller, a hollow ring and a Two semicircular springs in the hollow ring, the steering wheel is fixed on one end of the rotating shaft, the other end of the rotating shaft is connected with one end of the connecting rod, the other end of the connecting rod extends into the hollow ring, the rotating shaft and the hollow ring are arranged coaxially, and extend into the hollow ring. The end of the connecting rod into the hollow ring is provided with a first baffle that separates one end of the two semi-circular springs, the inner side of the hollow ring is provided with a chute for the connecting rod to rotate around its axis, and the hollow ring is also provided with a The second baffle is separated from the other end of the two semicircular springs. There is a pressure sensor on both sides of the second baffle. In the initial position, the first baffle and the second baffle are located at the 12 o'clock position of the hollow ring. and the 6 o'clock position, where the first bezel rotates within the hollow ring as the connecting rod turns and compresses the semicircular spring on the left or right, the second bezel is fixed in the hollow ring, two pressure sensors The collected pressure data is transmitted to the controller, which is converted into a steering wheel angle signal by the controller, and then combined with the speed signals of the two in-wheel motors to adjust the speed of each in-wheel motor, and realize the steering control of the vehicle through the differential speed of the two in-wheel motors.

As an improvement, the steering control device further includes a battery, the battery supplies power to the controller and the in-wheel motor, and at the same time when the vehicle is braking, the electrical energy recovered by the in-wheel motor is stored in the battery.

As an improvement, when the speed difference of one of the two in-wheel motors at zero speed cannot meet the speed difference required by the steering wheel angle, the controller controls the in-wheel motor with zero speed to reversely meet the speed difference required by the steering wheel angle.

As an improvement, two in-wheel motors are used as driving wheels to steer by adjusting the speed difference between the two driving wheels in real time.

As an improvement, the two in-wheel motors are used as the non-driven front wheels of the car, and the two rear wheels of the car are used as driving wheels. When steering is required, the relative speed of the two in-wheel motors is adjusted to steer. When going straight, the two in-wheel motors are used as slaves. wheel.

As an improvement, the speed sensor is a Hall sensor, and the speed information and position information of the in-wheel motor are provided to the controller through the Hall sensor.

As an improvement, the in-wheel motor is a permanent magnet brushless motor.

The beneficial effects of the present invention are:

The device method is suitable for two-wheel-drive vehicles. The two in-wheel motors other than the driving wheels are installed. When driving in a straight line, the in-wheel motors do not start to run. The in-wheel motors are driven by the driving wheels like ordinary wheels. At the same time, it provides power for two or one of the hub motors, so that the two hub motors generate a speed difference, the other side can convert kinetic energy into electrical energy while the speed drops, and the motor turns into a generator to run to charge the battery , which not only achieves the purpose of steering, but also carries out a certain amount of energy recovery.

Compared with the existing steering devices: most of the current cars use hydraulic transmission to achieve steering. The hydraulic transmission system has a very complex structure and slow response. The entire oil circuit needs to be kept under high pressure, which affects the service life and requires cost for later maintenance. . The steering device utilizes electric energy, saves the hydraulic transmission device, has a simple structure, has a fast response, and can realize rapid steering. Due to the simple structure of the device, the permanent magnet brushless motor is used for the in-wheel motor, which requires almost no maintenance, and the others basically do not need to be maintained and replaced, so the later maintenance cost is low.

Description of drawings

Fig. 1 is a structural block diagram of the automobile steering device of the present invention.

Figure 2 is the main layout diagram of the automobile steering device on the automobile.

FIG. 3 is a schematic structural diagram of the steering device of an automobile according to the present invention.

Figure 4 is a schematic diagram of the installation of the hollow ring semicircular spring and the pressure sensor.

In the figure, 1-steering wheel, 2-connecting rod, 3-hollow ring, 4-semi-circle spring, 5-6-pressure sensor, 7-controller, 8-transmission line, 9-rotating shaft, 10-first baffle , 11-Second baffle.

Detailed ways

The present invention will be illustrated below with reference to the accompanying drawings.

As shown in Figures 3 and 4, a two-wheel-drive automobile steering device includes a steering wheel 1, a steering control device, an in-wheel motor and a speed measuring sensor for measuring the speed of the in-wheel motor. The steering control device includes a rotating shaft 9, a connecting rod 2, The controller 7, the hollow ring 3 and the two semicircular springs 4 arranged in the hollow ring 3, the steering wheel 1 is fixed on one end of the rotating shaft 9, the other end of the rotating shaft 9 is connected with one end of the connecting rod 2, and the other end of the connecting rod 2 extends. into the hollow ring 3, the rotating shaft 9 is arranged coaxially with the hollow ring 3, the end of the connecting rod 2 extending into the hollow ring 3 is provided with a first baffle 10 separating one end of the two semicircular springs 4, The inner side of the hollow ring 3 is provided with a chute for the connecting rod 2 to rotate around its axis 9, and the hollow ring 3 is also provided with a second baffle plate 11 separating the other ends of the two semicircular springs 4. The second baffle plate 11 A pressure sensor is provided on both sides respectively. In the initial position, the first baffle 10 and the second baffle 11 are located at the 12 o'clock position and the 6 o'clock position of the hollow ring 3 respectively, wherein the first baffle 10 follows the connecting rod. 2 rotate and rotate in the hollow ring 3, and compress the semicircular spring 4 on the left or right side, the second baffle 11 is fixed in the hollow ring 3, and the pressure data collected by the two pressure sensors 5 and 6 are transmitted to the control The controller 7 converts the steering angle signal of the steering wheel 1 through the controller 7, and then adjusts the speed of each in-wheel motor in combination with the speed signals of the two in-wheel motors, and realizes the steering control of the vehicle through the differential speed of the two in-wheel motors.

As a more preferred embodiment, the steering control device further includes a battery, the battery supplies power to the controller 7 and the in-wheel motor, and at the same time when the vehicle brakes, the electrical energy recovered by the in-wheel motor is stored in the battery.

As a more preferred embodiment, when one of the two in-wheel motors rotates at zero and cannot meet the speed difference required by the steering wheel 1 corner, the controller 7 controls the in-wheel motor with zero rotation speed to reverse the rotation to meet the required speed of the steering wheel 1 corner. Difference.

As a more preferred embodiment, two in-wheel motors are used as driving wheels to steer by adjusting the speed difference of the two driving wheels in real time.

As a more preferred embodiment, the two in-wheel motors are used as the non-driven front wheels of the car, and the two rear wheels of the car are used as the driving wheels. When steering is required, the relative speeds of the two in-wheel motors are adjusted to steer. When driving straight, Two in-wheel motors act as driven wheels.

As a more preferred embodiment, the speed sensor is a Hall sensor, and the speed information and position information of the in-wheel motor are provided to the controller through the Hall sensor.

As a more preferred embodiment, a permanent magnet brushless motor is used as the in-wheel motor.

Taking a front-wheel-drive car as an example to illustrate: first, a control system installed in the controller 7 needs to be designed. The control system is designed using existing known technologies. The control system exchanges information with the in-wheel motor, and the control system receives the in-wheel motor. The speed information and position information of the in-wheel motor are controlled by controlling the current output of the battery. The steering wheel 1 can be connected with the controller 7 in the way shown in FIG. 3 . When the steering wheel 1 rotates left and right, the semicircular spring 4 compressed in the hollow ring 3 by the connecting rod 2 is connected by the pressure sensors on both sides of the second baffle 11 . To receive the pressure from the semicircular spring 4 , the pressure sensors 5 and 6 transmit pressure signals to the controller 7 through the transmission line 8 . The controller 7 calculates the rotation angle signal of the steering wheel 1 through the pressure signal, and controls the rotation speed of the two in-wheel motors to generate a speed difference through the rotation angle signal, so as to achieve the purpose of steering. The two semicircular springs 4 are not squeezed, and the pressure detected by the two pressure sensors 5 and 6 is zero or equal. When the steering wheel 1 is turned counterclockwise, the left pressure sensor 5 is affected by the left semicircular spring 4. Squeeze, the left pressure sensor 5 detects pressure, or the pressure of the left pressure sensor 5 increases, and the pressure of the right pressure sensor 6 decreases. At this time, the controller 7 judges the steering wheel 1 according to the pressure change values measured by the pressure sensors 5 and 6. The angle of counterclockwise rotation, and then control the speed of the left hub motor to be smaller than the right hub motor through the size of the rotation angle, so that the car turns to the left, and match the corresponding speed difference to control the magnitude of the car's left turn; when the steering wheel 1 turns clockwise , the right pressure sensor 6 is squeezed by the right semi-circular spring 4, the right pressure sensor 6 detects the pressure, or the right pressure sensor 6 pressure increases, the left pressure sensor 5 pressure decreases, at this time control The device 7 judges the clockwise rotation angle of the steering wheel 1 according to the pressure change values measured by the pressure sensors 5 and 6, and then controls the rotation speed of the right wheel hub motor to be smaller than the left wheel hub motor through the size of the rotation angle, so that the car turns to the right and matches the corresponding speed difference. Controls how much the car steers to the right. The battery and the controller 7 and the battery and the hub motor are connected by wires. The in-wheel motor is used as the front wheel, because the battery and the controller 7 and the steering device of the controller 7 and the steering wheel 1 are all connected by the transmission line 8, so the arrangement position has better flexibility, and can be placed in a suitable position.

Figure 1 shows the connection between various parts of the entire steering system, and Figure 2 shows a general distribution diagram of the entire device, and the specific arrangement is not limited to this. In addition, the power required by the controller 7 can be provided by a battery, or a dedicated battery can be provided. The outstanding advantages of the steering device method are simple structure, long service life, fast response, wide application range, no pollution, almost no maintenance, high safety, and can realize energy recovery.

The steering device of the method can be retrofitted to existing cars, because most cars now use two-wheel drive, so it has a wide range of applications. Most cars now use hydraulic transmission, which has complex structure, high maintenance cost and slow response. The device of this method is structurally simpler than the original steering device. In addition to checking the line regularly to ensure safety, the basic There is no place for maintenance, so the maintenance cost is low, and the electric response speed is very fast. It can also solve the problem of slow response of the existing steering, avoid turning too late when encountering emergencies, and reduce the occurrence of traffic accidents. According to the steering device of this method, energy recovery can be realized during the steering process, because the controller 7 supplies power to one side through the battery during the steering process, and the speed increases, while the speed of the other side decreases due to the increase of resistance. The in-wheel motor can be changed from a motor to a generator to charge the battery, and the principle of reversibility of the motor is used here. From the safety analysis, because the original hydraulic steering device is always in a high pressure state, the whole device is prone to failure, and it is easy to lose control during steering, which requires frequent maintenance; the hydraulic steering response is slow, and it encounters emergencies. It may be too late to turn, resulting in a traffic accident. Therefore, the safety hazard is relatively large, especially when the speed is high, the steering response is required to be high. By adopting this method, failure is not easy to occur, the response speed is fast, and the safety is high.

The action process of the device method: During the driving process of the car, before the steering wheel 1 is not rotated, the steering device does not work, and the in-wheel motor is driven by the driving wheel like an ordinary wheel, which belongs to the driven wheel. When steering is required, turn the steering wheel 1, and the steering information is transmitted to the controller 7 by the structure of FIG. Analyze and control the battery to output a suitable amount of electricity. One side of the hub motor receives energy from the battery and the hub motor rotates. The speed of the hub motor on the other side will decrease during the steering. The motor can be turned into a generator to charge the battery to achieve energy. Recycling, this has an obvious effect in high-speed driving. When the steering wheel 1 of the car is restored, the steering device stops, and the in-wheel motor turns as a driven wheel again.

Claims (7)

1. A two-wheel drive automobile steering device is characterized in that: the steering control device comprises a rotating shaft, a connecting rod, a controller, a hollow ring and two semicircular springs arranged in the hollow ring, the steering wheel is fixed at one end of the rotating shaft, the other end of the rotating shaft is connected with one end of the connecting rod, the other end of the connecting rod extends into the hollow ring, the rotating shaft and the hollow ring are coaxially arranged, a first baffle plate for separating one ends of the two semicircular springs is arranged at the end part of the connecting rod extending into the hollow ring, a sliding groove for the connecting rod to rotate around the rotating shaft is arranged at the inner side of the hollow ring, a second baffle plate for separating the other ends of the two semicircular springs is also arranged in the hollow ring, two sides of the second baffle plate are respectively provided with a pressure sensor, and in the initial position, the first baffle plate and the second baffle plate are respectively positioned at the 12 o 'clock position and the 6 o' clock position of the hollow ring, wherein the first baffle plate rotates in the hollow ring, and compressing the semicircular spring on the left side or the right side, fixing the second baffle plate in the hollow ring, transmitting pressure data collected by the two pressure sensors to the controller, converting the pressure data into a corner signal of the steering wheel through the controller, then adjusting the rotating speed of each hub motor by combining the rotating speed signals of the two hub motors, and realizing automobile steering control through differential speed of the two hub motors.

2. A two wheel drive vehicle steering arrangement according to claim 1, wherein: the steering control device further comprises a storage battery, the storage battery supplies power to the controller and the hub motor, and meanwhile, when the automobile is braked, electric energy recovered through the hub motor is stored in the storage battery.

3. A two wheel drive vehicle steering arrangement according to claim 2, wherein: when the rotating speed of one of the two in-wheel motors is zero and cannot meet the speed difference required by the steering wheel angle, the controller controls the in-wheel motor with the rotating speed of zero to rotate reversely to meet the speed difference required by the steering wheel angle.

4. A two wheel drive vehicle steering arrangement according to claim 2, wherein: the two hub motors are used as driving wheels, and steering is achieved by adjusting the speed difference of the two driving wheels in real time.

5. A two wheel drive vehicle steering arrangement according to claim 2, wherein: the two in-wheel motors are used as non-driven front wheels of the automobile, the two rear wheels of the automobile are used as driving wheels, when the automobile needs to turn, the relative speed of the two in-wheel motors is adjusted to turn, and when the automobile moves straight, the two in-wheel motors are used as driven wheels.

6. A two wheel drive vehicle steering arrangement according to claim 2, wherein: the speed measuring sensor is a Hall sensor, and the rotating speed information and the position information of the hub motor are provided for the controller through the Hall sensor.

7. A two wheel drive vehicle steering arrangement according to any one of claims 1 to 6, wherein: the hub motor is a permanent magnet brushless motor.

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